TASK - “Untwist” inversions in driving code

[shueja]

Description
We are inverting things in all the wrong places. Fix it.
Requirements
Driver controller forward axis should output positive when used in an input map

Motors when moving forward should show positive encoder reading and positive voltage. This means invert at the controller instead of the command for the right drivebase side

[EliSauder]

Motors when moving forward should show positive encoder reading and positive voltage. This means invert at the controller instead of the command for the right drivebase side

You might want to be a little more precise on this one because its possible to have a motor rotate clockwise while the encoder rotates the opposite direction depending on where it is mounted.

[shueja]

And that is precisely the situation where an inversion of the encoder phase would need to be applied.